YAMAHA单轴机械手控制TS-S控制器手册(可编辑)

YAMAHA单轴机械手控制TS-S控制器手册(可编辑) YAMAHA单轴机械手控制TS-S控制器手册 YAMAHA SINGLE-AXIS ROBOT CONTROLLER Operator’s Manual ENGLISH E YAMAHA MOTOR CO., LTD. IM Operations 882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054.Japan URL E119-Ver. 1.00 EPM011C100 General Contents Important information before reading this manual Introduction i Main functions ii About this manual iii Safety alert symbols and signal words iv CE marking v 1. Safety standard ………………………………………………………………… …………… v 2. Safety measures ……………………………………………………………… ……………… v 3. Robot safety measures ……………………………………………………………… ……… vi 4. EMC countermeasure example …………………………………………………………… vi Safety cautions ix Warranty xii Chapter 1 Overview 1. Unpacking check 1-1 2. Part names and functions 1-2 3. System configuration 1-4 4. Installation and operation sequence 1-5 Chapter 2 Installation and wiring 1. Installation method 2-1 1.1 Controller main body ………………………………………………………………… 2-1 1.2 Regenerative unit RGT TS-X TS-P ……………………………………………… 2-2 1.3 Regenerative unit RGU-2 TS-P ………………………………………………… 2-2 2. Installation conditions 2-3 3. Wiring 2-4 3.1 Power supply connection TS-S …………………………………………………… 2-4 3.2 Power supply connection TS-X TS-P …………………………………………… 2-6 3.3 Malfunction prevention measures TS-X TS-P ………………………………… 2-9 4. Connecting the robot 2-10 5. Connecting the communication unit 2-12 6. Connecting the regenerative unit TS-X TS-P 2-14 6.1 Connecting the RGT TS-X TS-P …………………………………………………… 2-14 6.2 Connecting the RGU-2 TS-P ……………………………………………………… 2-15 7. Absolute battery TS-X 2-16 7.1 Connecting the absolute battery ………………………………………………… 2-16 7.2 Replacing the absolute battery …………………………………………………… 2-16 8. Connecting the I/O signals 2-17 9. Configuring an emergency stop circuit TS-S 2-18 10.Configuring an emergency stop circuit TS-X TS-P 2-19 10.1 EXT connector signal names and functions ……………………………………… 2-19 10.2 Wiring and connecting the EXT connector ……………………………………… 2-21 10.3 Circuit details ………………………………………………………………… ………… 2-22 11.Connecting the I/O unit 2-23 12.Safety circuit construction example TS-X TS-P 2-26 12.1 Performance level …………………………………………………………………… 2-26 12.2 Circuit configuration examples …………………………………………………… 2-26 Chapter 3 Data setting 1. Data overview 3-1 2. Point data 3-2 2.1 "Standard setting" type ……………………………………………………………… 3-3 2.2 "Custom setting" type ………………………………………………………………… 3-4 3. Point data details 3-5 4. Parameter data 3-9 4.1 Parameter list……………………………………………………………………… …… 3-9 4.1.1 RUN parameters ……………………………………………………………… ……………………… 3-9 4.1.2 I/O parameters ……………………………………………………………… …………………… 3-10 4.1.3 Option parameters ……………………………………………………………………………… 3-10 4.1.4 Servo parameters ………………………………………………………………………………… 3-11 4.2 Parameter details ……………………………………………………………………… 3-11 4.2.1 RUN parameters …………………………………………………………………………………… 3-11 4.2.2 I/O parameters …………………………………………………………………………………… 3-14 4.2.3 Servo parameters ………………………………………………………………………………… 3-16 4.2.4 Option parameters ……………………………………………………………………………… 3-17 4.2.5 CC-Link ……………………………………………………………………………………………… 3-17 4.2.6 DeviceNet ………………………………………………………………………………………… 3-18 Chapter 4 I/O signal functions 1. I/O specifications 4-1 1.1 NPN and PNP type …………………………………………………………………… 4-1 1.2 CC-Link type ……………………………………………………………………… …… 4-2 1.3 DeviceNet type……………………………………………………………………… … 4-4 2. I/O signal list 4-6 3. I/O signal details 4-7 3.1 Input signal details ………………………………………………………………… … 4-7 3.2 Output signal details ………………………………………………………………… 4-9 Chapter 5 Operation 1. Operation procedure 5-1 1.1 Overall operation timing chart ……………………………………………………… 5-1 1.1.1 TS-S …………………………………………………………………………………………………… 5-1 1.1.2 TS-X …………………………………………………………………………………………………… 5-2 1.1.3 TS-P …………………………………………………………………………………………………… 5-3 1.1.4 Communication check field network ………………………………………………………… 5-4 1.2 Alarm occurrence and clearing …………………………………………………… 5-5 2. Origin search return-to-origin 5-6 2.1 Origin point detection method TS-S TS-X ……………………………………… 5-6 2.2 Origin point detection method TS-P …………………………………………… 5-7 2.3 Origin point and coordinates relationship ……………………………………… 5-10 2.4 Return-to-origin timing chart………………………………………………………… 5-10 3. Positioning operation 5-11 3.1 Basic operation………………………………………………………………………… 5-11 3.2 Positioning timing chart ……………………………………………………………… 5-14 3.3 Positioning merge operation ……………………………………………………… 5-16 3.4 Push operation ………………………………………………………………………… 5-18 3.5 Deceleration push operation ……………………………………………………… 5-20 3.6 Continuous operation ……………………………………………………………… … 5-21 3.7 Output function ………………………………………………………………………… 5-22 3.8 Speed switch function………………………………………………………………… 5-23 3.9 Operation examples ………………………………………………………………… 5-24 4. MANUAL mode 5-27 4.1 MANUAL mode timing chart ………………………………………………………… 5-27 4.2 JOG movement …………………………………………………………… ………… 5-28 4.3 TEACH Teaching ……………………………………………………………………… 5-29 5. Remote commands 5-30 5.1 Overview………………………………………………………………………………… 5-30 5.2 Remote command list………………………………………………………………… 5-30 5.3 Timing chart …………………………………………………………………………… 5-33 5.4 Query …………………………………………………………………… ……………… 5-34 5.5 Point data writing ……………………………………………………………………… 5-35 5.6 Point data reading …………………………………………………………………… 5-36 5.7 Parameter data writing ……………………………………………………………… 5-37 5.8 Parameter data reading …………………………………………………………… 5-37 6. Operation modes 5-38 7. Other functions 5-39 7.1 Soft limit function ……………………………………………………………………… 5-39 7.2 Zone output function ………………………………………………………………… 5-39 7.3 Alarm No. output function …………………………………………………………… 5-40 7.4 Changing the payload ……………………………………………………………… 5-40 7.5 Stop mode TS-S ……………………………………………………………………… 5-41 7.6 Magnetic pole position estimation TS-P ………………………………………… 5-41 8. LED status indicators 5-42 9. TS-Monitor Option TS-X TS-P 5-43 9.1 Part names and functions …………………………………………………………… 5-43 9.2 Opening or closing the TS-Monitor ………………………………………………… 5-43 9.3 Changing the screen ………………………………………………………………… 5-44 9.4 Screen configuration and meaning ……………………………………………… 5-45 9.5 Screen color in case of alarm ……………………………………………………… 5-49 9.6 SETUP screen ………………………………………………………………… ………… 5-50 Chapter 6 Troubleshooting 1. Alarm groups 6-1 2. Alarm recording function 6-2 3. Alarm list 6-3 4. Alarms: Possible causes and actions 6-4 Chapter 7 Specifications 1. Controller basic specifications 7-1 1.1 Basic specifications ………………………………………………………… ………… 7-1 1.2 Dimensional outlines ………………………………………………………………… 7-2 2. I/O interface specifications 7-4 2.1 NPN ……………………………………………………………………… ……………… 7-4 2.2 PNP ……………………………………………………………………… ……………… 7-4 2.3 CC-Link ………………………………………………………………… ……………… 7-4 2.4 DeviceNet ……………………………………………………………… ……………… 7-5 3. TS-Monitor specifications TS-X TS-P 7-6 3.1 Basic specifications ………………………………………………………… ………… 7-6 3.2 Dimensional outlines with TS-Monitor TS-X TS-P …………………………… 7-6 4. Regenerative unit specifications 7-8 4.1 Dimensional outlines RGT ………………………………………………………… 7-8 4.2 Dimensional outlines RGU-2 ……………………………………………………… 7-8 HT1 Operation Guide Introduction A-1 1. What the HT1 does A-2 1.1 HT1 panel layout …………………………………………………………………… … A-3 1.2 Connecting to the external safety circuit HT1-D ……………………………… A-5 2. Connecting or disconnecting the HT1 A-6 2.1 Connecting to the controller………………………………………………………… A-6 2.2 Disconnecting from the controller ………………………………………………… A-7 3. Basic operations A-8 3.1 Operation key layout and functions ……………………………………………… A-8 3.2 Screen configuration ………………………………………………………… ……… A-9 3.3 Starting to use the keys ……………………………………………………………… A-11 3.4 How to enter numbers………………………………………………………………… A-14 3.5 Menu structure ………………………………………………………………………… A-15 4. Editing the point data A-16 4.1 Point teaching ………………………………………………………………………… A-16 4.1.1 Teaching playback ………………………………………………………………… …………… A-16 4.1.2 Direct teaching …………………………………………………………………………………… A-18 4.2 Copying point data …………………………………………………………………… A-19 4.3 Deleting point data …………………………………………………………………… A-20 4.4 Displaying a list of point data ……………………………………………………… A-21 5. Parameter setting A-22 5.1 Setting Run parameters …………………………………………………………… … A-22 5.2 Setting I/O parameters ……………………………………………………………… A-23 5.3 Setting Option parameters ………………………………………………………… A-24 5.4 Setting Servo parameters …………………………………………………………… A-25 6. Operating the robot A-26 6.1 Turning the servo on or off …………………………………………………………… A-26 6.2 Origin search return-to-origin …………………………………………………… A-27 6.3 Operating the robot …………………………………………………………………… A-28 6.4 Resetting an alarm …………………………………………………………………… A-30 7. Monitor functions A-31 7.1 I/O monitor……………………………………………………………………………… A-31 7.2 Status monitor ………………………………………………………………………… A-32 7.3 Run monitor ………………………………………………………………… ………… A-33 7.4 Alarm display ………………………………………………………………………… A-34 7.5 Warning display ……………………………………………………………………… A-34 7.6 Message display ……………………………………………………………………… A-35 7.7 Alarm record display ………………………………………………………………… A-36 7.8 Information display …………………………………………………………………… A-37 8. Other functions A-38 8.1 Operation mode …………………………………………………………………… … A-38 8.2 Setting mode ……………………………………………………………………… …… A-39 8.2.1 Changing the display language ……………………………………………………………… A-39 9. Specifications A-40 9.1 Basic specifications …………………………………………………………………… A-40 9.2 Dimensional outlines ………………………………………………………………… A-40 9.2.1 HT1 ……………………………………………………………………… …………………………… A-40 9.2.2 HT1-D …………………………………………………………………… …………………………… A-41 Communication Command Guide Introduction B-1 1. Communication specifications B-2 1.1 Communication parameter specifications ……………………………………… B-2 1.2 Communication command specifications ……………………………………… B-2 2. Communication command lists B-3 3. Communication command description B-5 3.1 Robot operation commands………………………………………………………… B-5 Positioning operation START ………………………………………………………………… …………… B-5 Operation stop STOP …………………………………………………………………… ………………… B-5 Return-to-origin ORG ……………………………………………………………………………………… B-6 JOG movement JOG+, JOG- …………………………………………………………………………… B-6 Inching movement INCH+, INCH- ……………………………………………………………………… B-7 3.2 Status change commands ………………………………………………………… B-8 Servo status change SRVO ……………………………………………………………………………… B-8 Brake status change BRK ……………………………………………………………………… ………… B-8 Reset RESET …………………………………………………………………… …………………………… B-8 3.3 Edit commands ………………………………………………………………… ……… B-9 Point data writing 1 M, P, S, AC, DC, Q, ZL, ZH, N, J, F, T …………………………………………… B-9 Point data writing 2 P_, S_, AC_, DC_, Q_ ………………………………………………………… B-10 Current position teaching TEACH …………………………………………………………………… B-11 Point data copying COPY ……………………………………………………………………………… B-11 Point data deleting DEL ………………………………………………………………………………… B-12 Parameter data writing K ……………………………………………………………………………… B-12 Automatic node number setting SETID ……………………………………………………………… B-13 3.4 Query commands …………………………………………………………………… B-14 Point data reading ?M, ?P, ?S, ?AC, ?DC, ?Q, ?ZL, ?ZH, ?N, ?J, ?F, ?T ……………………… B-14 Parameter data reading ?K …………………………………………………………………………… B-15 Status data reading ?D ………………………………………………………………………………… B-16 Input/output information reading ?IN, ?INB, ?OUT, ?OUTB ……………………………………… B-17 Word input/output information reading ?WIN, ?WOUT ………………………………………… B-18 Option information reading ?OPT, ?OPTB ………………………………………………………… B-19 Alarm/warning information reading ?ALM, ?WARN …………………………………………… B-20 Daisy Chain Guide Introduction C-1 1. Installation and wiring C-2 1.1 Installation …………………………………………………………… ………………… C-2 1.2 Wiring …………………………………………………………………… ……………… C-3 2. Node number setting C-5 2.1 Automatic node number assignment function ………………………………… C-5 2.1.1 When using the TS-Manager ………………………………………………………………………C-5 2.1.2 When using the HT1 …………………………………………………………………………………C-7 2.2 When controllers with same node number exist on network ………………… C-8 2.2.1 When using the TS-Manager ………………………………………………………………………C-8 2.2.2 When using the HT1 …………………………………………………………………………………C-9 2.3 Switching the controllers …………………………………………………………… C-10 2.3.1 When using the TS-Manager …………………………………………………………………… C-10 2.3.2 Switching the controllers using the HT1 ……………………………………………………… C-12 3. Writing and transferring saved and newly made data C-13 3.1 Writing data to controller …………………………………………………………… C-13 3.2 Transferring data to controller ……………………………………………………… C-16 Important information before reading this manual Contents Introduction i Main functions ii About this manual iii Safety alert symbols and signal words iv CE marking v 1. Safety standard v 2. Safety measures v 3. Robot safety measures vi 4. EMC countermeasure example vi Safety cautions ix Warranty xii Introduction I Thank you for purchasing the TS series robot controller hereafter referred to simply as "Controller" . Please m read this manual carefully to ensure correct and safe use of this controller. p o r t a This manual explains three controller models, TS-S, TS-X, and TS-P. n So, some functions or numeric values may vary depending on the controller model you are using. In this manual, the models, TS-S, TS-X, and TS-P, are expressed by TS-S , TS-X , and TS-P , respectively. t i n Be sure to check the items corresponding to the controller model you are using. f o r m a t i o n b e f o r e r e a d i n g t h i s m a n u a l i Main functions I m The following table shows the main functions of the controller. p o Function Explanation Reference Section r t Moves the robot slider to the specified position. There are 4 types a of position operation: n 1. Positioning operation Chapter 5 t section 3, "Positioning operation". i n 2. Positioning merge operation Chapter 5 f section 3.3, "Positioning merge operation". o Positioning operation 3. Push operation Chapter 5 r m section 3.4, "Push operation". 4. Decel. Push Chapter 5 a section 3.5, "Deceleration push operation". t i *Positioning can be specified in an "absolute position" or "relative o position" format. n Specifies the slider position point . b Up to 255 points of point data can be handled. Chapter 3 e Point data Each point includes the following elements: section 2, "Point data". f RUN Type, Position, Speed, Accel., Decel., Push Force, Zone - , o Zone + , Near Width In-Position Zone , Jump, Flag, Timer. r e The "point data type" setting can be selected as "Standard setting" Chapter 3 Point type setting or "Custom setting". This is possible only from the support r section 2, "Point data". e software. a Chapter 5 Performs an origin search return-to-origin simply by entering a section 1, "Operation procedure". d Origin search return-to-origin command. Chapter 5 i n section 2, "Origin search". g Absolute function Once the absolute battery has been connected and a single origin Chapter 5 return has been executed, further origin returns are not required t TS-X section 2.1, "Origin point detection method". h at subsequent power ONs. i s JOG operation and Robot JOG operation and current position teaching can be Chapter 5 current position m teaching performed from the host controller. section 3, "Positioning operation". a Soft limit function Sets the robot's movement range. This function is used to avoid Chapter 5 n collisions, etc., when obstacles are present. section 7.1, "Soft limit function" u The following statuses can be selected and output to the host a controller. l Point No. output, alarm No. output, zone output, personal zone Chapter 4 Output function output, near output in-position zone output , push status, origin section 3, "I/O signal details". return completion status, warning output, movement-in-progress output, manual mode status. Saves up to 50 of the most recent alarms. The following elements are saved: Chapter 6 Alarm history Cause, start time, position, speed, operation status, operation "2. Alarm recording function". point, elec. current, voltage, input, output. Chapter 5 Operation modes Exclusive I/O and communication control is possible. section 6, "Operation modes". n HT1 Handy Terminal HT1 Operation Guide Offers point and parameter data editing/monitoring functions. n TS-Manager PC software for Windows Support software for data designing, debugging, maintenance, Support tools and management. n TS-Monitor LCD monitor TS-X TS-P Chapter 5 LCD monitor integrated with the controller main body that displays section 9, "TS-Monitor Option " the various statuses, current position, and alarm information. ii About this manual I This manual is divided into 3 main parts: Safety Cautions, Controller Guide, and a Supplement HT1 m Operation Guide, Communication Command Guide, Daisy Chain Guide . In order to use the controller and p optional devices in an efficient manner, users should read the parts which are pertinent to the objective in o r question. Moreover, after reading this manual, keep it on hand for easy referencing as needed, and always t make it available to the end user. a n t i Configuration of this manual n f o r Contains the handling cautions related to the m a ? Safety Cautions controller and the optional Handy Terminal. Be t sure to read these cautions before using the i equipment, and strictly observe them at all times. o n Explains the controller functions, as well as the b controller installation and operation procedures. e ? Controller Guide f o Be sure to read this section before operating the r controller, and strictly observe the instructions at all times. e r e ? Supplement a Explains the procedures for using the HT1 Handy d i HT1 Operation Guide Terminal to edit point data, and to operate the n robot, etc. g t h i Be sure to read this section before writing the data, s m Communication such as parameter or point data, or operating the Command Guide robot using a communication unit, such as a personal computer through the RS-232C communication. a n u Daisy Chain Guide Explains the daisy chain function of the TS series a robot controllers. l 23001-M0-00 Use any of the following methods for referencing this manual content during controller installation, operation, and adjustment procedures. ? Keep this manual close at hand for referencing when performing installation, operation, and adjustments. ? Display the CD-ROM version of this manual onscreen for referencing when performing installation, operation, and adjustments. ? Print out the required pages of this manual from the CD-ROM in advance, and use them for reference when performing installation, operation, and adjustments. Although every effort was made to ensure that this manual content is accurate and complete, please contact YAMAHA if errors, misprints, or omissions are found. For information related to the robot unit, support software, and other optional devices, please refer to the operation manuals for those items. iii Safety alert symbols and signal words I m The following safety alert symbols and signal words are used in this manual to describe safety concerns, p handling precautions, prohibited or mandatory action and key points when using this product. Make sure o you fully understand the meaning of each symbol and signal word and comply with the instructions. r t a DANGER n w "DANGER" INDICATES AN IMMINENTLy HAZARDOUS SITUATION WHICH, If NOT AvOIDED, WILL RESULT IN DEATH OR t i SERIOUS INJURy. n f o WARNING r m w "WARNING" INDICATES A POTENTIALLy HAZARDOUS SITUATION WHICH, If NOT AvOIDED, COULD RESULT IN DEATH OR a SERIOUS INJURy. t i o CAUTION n c "CAUTION" indicates a potentially hazardous situation which, if not avoided, could result in minor or moderate b injury or damage to the equipment or software. e f o r Indicates a prohibited action related to the handling of this product. Read the content e carefully to ensure that the prohibited action is not performed. r e [Example] a d i n g Indicates a mandatory action related to the handling of this product. Read the content t carefully to ensure that the mandatory action is performed. h i s [Example] m Mandatory action Cut off power a n u a l iv CE marking I m p 1. Safety standard o r n Cautions regarding compliance with EC Directives t a n The YAMAHA robot robot and controller is not, in itself, a robot system. The YAMAHA robot is just one component that is incorporated into the customer's system built-in equipment , and YAMAHA robots are in compliance with the EC t Directives as they apply to built-in equipment. Therefore, this does not guarantee EC Directive compliance in cases i n where the robot is used independently. Customers who incorporate a YAMAHA robot into a system which will be shipped f to, or used in, the EU, should therefore verify that the overall system is compliant with EC Directives. o r ? Differences between a YAMAHA robot robot and controller , and a robot system: m A YAMAHA robot robot and controller is just one compon